A nice discussion of the extension of the linear transformation matrix. The classic example and use case of this is 3D transformations that include Translation

A nice discussion of the extension of the linear transformation matrix. The classic example and use case of this is 3D transformations that include Translation (as well as the linear shear, scale, rotate, and reflect). https://en.wikipedia.org/wiki/Transformation_matrix https://en.wikipedia.org/wiki/Transformation_matrix I vaguely remember that the Minkowski space can also be written as an affine, but not particularly how or why, since it should be translation independent? It seemed that the raising/lowering tensor notation is always used.